Openlane contains 150000 training data and 40000 test data. In order to verify the performance of the model on every scene, the Up&Down case, Curve case, Extreme Weather case and Night are split from the verification set case, Intersection case, and Merge&Split case. Table.REF  shows the F1-score of the model in every scene. Our model trains 10 epochs in the training set and achieves state-of-the-art in each scences. Table.REF  shows the specific performance in F1-score, X/Z error in different work. Our results are 10.6% higher on the F1-score than the previous state-of-the-art work[1]}. Since the 3D ground truth of openlane is synthesized by lidar, our work does not show much advantage on X error. However, our work shows a great advantage on X error for the Apollo dataset[2]}.
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